A humanoid neck parallel robot and method for controlling the robot

Abstract

The invention discloses a humanoid-neck parallel robot and a control method thereof. The humanoid-neck parallel robot comprises a moving platform, a fixed platform, soft ropes, a compression spring, a base, a switching power supply, step motor drivers, a single-chip microcomputer, a liquid crystal display module, an upper computer, step motors, columns, a tilt sensor, and pulleys; the step motors and the columns are fixed on the base; the tilt sensor is fixed on the moving platform; the pulleys are fixed on step motor shafts. The base is connected with the fixed platform through the columns. The fixed platform is connected with the moving platform through the compression spring. The step motors are connected with the moving platform through the soft ropes. The tilt sensor is connected with the single-chip microcomputer; the step motors are connected with the step motor drivers; the step motor drivers are connected with both the switching power supply and the single-chip microcomputer. The single-chip microcomputer is in communication connection with the upper computer. The humanoid-neck parallel robot can perform pitching motion, rolling motion and compound action of the pitching and rolling motions as simulation requires, the attitude of the robot, entered in software, can be achieved, and the humanoid-neck parallel robot is low in cost and convenient to operate.

Description

technical field [0001] The invention relates to a bionic robot, a parallel mechanism and an automatic control technology, in particular to a humanoid neck parallel robot capable of programming and controlling the attitude of the moving platform of the parallel mechanism. Background technique [0002] In recent years, a lot of research has been done on humanoid robots at home and abroad. In these studies, researchers must consider that the robot has a suitable humanoid head and neck. The tandem type refers to the biomimetic movement driven by the embedded motor in series. Each motor is responsible for one degree of freedom. The structure is simple and easy to control, so it is the most common; the ball pair type is supported by a ball pair to achieve bionics. Abroad, Japan is in a leading position in the field of humanoid robots, European and American countries also have considerable research results, and many domestic universities and research institutes have also conducted...

AI Technical Summary

Problems solved by technology

However, since only three ropes are used and a new mathematical model is involved, it is difficult to realize the motion control of a given posture of the humanoid head and neck.

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